WO2024045617A1

WO2024045617A1 - Auxiliary manipulator for esd surgery

Info

Publication number: WO2024045617A1
Application number: PCT/CN2023/086514
Authority: WO
Inventors: 孔德润; 武理霞; 彭杰; 宋绍方; 肖有为; 谢鑫; 吴艾久
Original assignee: 合肥中纳医学仪器有限公司
Priority date: 2022-08-30
Filing date: 2023-04-06
Publication date: 2024-03-07
Also published as: CN115363696A; CN115363696B

Abstract

The present invention relates to an auxiliary manipulator for ESD surgery. The auxiliary manipulator for ESD surgery comprises an endoscope body, a tip cap, a sheath, and auxiliary tissue forceps. One end of the tip cap fixedly sleeves the front end of the endoscope body. The sheath comprises a front section, a middle section, and a rear section that are sequentially arranged in communication. The front section is fixed to the outer surface of the tip cap, and the middle section and the rear section are fixed to the outer surface of the endoscope body. The length of the middle section is greater than those of the front section and the rear section, and the middle section is radially compressed and attached to the outer surface of the endoscope body. Inner cavities of the front section, the middle section and the rear section jointly form an operation channel. The auxiliary tissue forceps comprise a head assembly, a connecting assembly and a handle assembly that are sequentially connected. The head assembly enters the operation channel from one end of the rear section and extends to one end of the front section. The present invention provides the auxiliary manipulator for operators by means of the arrangement of the sheath and the auxiliary tissue forceps, achieving "double-hand operation", thereby improving the dissection speed of lesions.

Description

An auxiliary manipulator for ESD surgery

Technical field

The present invention relates to the technical field of ESD surgical auxiliary instruments, and in particular to an ESD surgical auxiliary manipulator.

Background technique

ESD, endoscopic submucosal dissection, is a standard minimally invasive treatment mainly for precancerous lesions and early cancers of the digestive tract. During surgery, the lesion area is usually observed through the images taken by the endoscope, and the axial penetration is performed through the interior of the endoscope. The dissecting tissue forceps extend from the front end of the endoscope to dissect the lesion. Although this method can dissect the lesion, relying on a dissecting tissue forceps to dissect the lesion is equivalent to a "one-handed operation" in the digestive tract. The operation cycle It is long and cumbersome, and requires a lot of energy from the operator. Especially for lesions with large and thin lesions, it is necessary to peel off along the outer wall of the lesion first, and then peel off the middle part of the lesion. Due to the "one-handed operation", it is necessary to constantly change the peeled tissue. The angle and position of the forceps are used to peel off bit by bit, which is time-consuming and labor-intensive. Without the assistance of other instruments, a little carelessness may cause damage to the lesion or damage the patient's digestive tract mucosa.

Contents of the invention

Based on this, it is necessary to provide an auxiliary manipulator for ESD surgery in order to solve the problem that the "one-hand operation" ESD surgery in the existing technology will cause a long and difficult surgical cycle.

An auxiliary manipulator for ESD surgery includes an endoscope body, a tip cap, a sheath and an auxiliary tissue forceps.

One end of the tip cap is fixedly sleeved on the front end of the endoscope body to prevent the front end of the endoscope body from directly fitting with the lesion.

The sheath tube includes a front section, a middle section and a rear section that are connected in sequence; the front section is fixed on the outer surface of the tip cap, and the middle section and the rear section are fixed on the outer surface of the endoscope body; the length of the middle section is longer than the front section and the rear section, and the middle section is pressed radially It is flatly attached to the outer surface of the endoscope body; the internal cavities of the front, middle and rear sections together form the operating channel.

The auxiliary tissue forceps include a forceps head component, a connection component and a handle component that are connected in sequence; the forceps head component enters the operating channel from one end of the rear section and extends to one end of the front section; the connection component is bent to change the relationship between the forceps head component and the handle component. relative angle between them.

Further, the connection assembly includes a traction rope and an outer tube; one end of the traction rope is connected to the clamp head assembly, and the other end is connected to the handle assembly; the traction rope is located inside the outer tube; the outer tube includes the front tube body, the snake in sequence from the clamp head assembly. The bone tube and the rear tube body; the front tube body is fixedly connected to the clamp head assembly; a plurality of steel cables are arranged at equal intervals on the side wall of the snake bone tube; the wall surface of the rear tube body is provided with lines matching the steel cables along the radial direction. hole. The bending of the serpentine tube can change the angle of the clamp head assembly.

Further, the forceps assembly includes a left forceps head and a right forceps head; the opposite sides of the left forceps and right forceps heads are in the shape of coarse teeth, and the coarse teeth are arranged to improve the gripping force of the lesions when the left and right forceps are closed. .

Further, the internal radial lengths of the front section, the middle section and the rear section are the same; the internal radial lengths of the front section, the middle section and the rear section are at least 1.2mm.

Furthermore, the elastic modulus of the front and rear sections is greater than 196000N/mm².

Further, the radial lengths of the front tube body and the rear tube body are the same; the radial lengths of the front tube body and the rear tube body are greater than the radial length of the sheath tube.

Further, the handle assembly includes a slider and a handle; the slider is sleeved on the outer surface of the handle, and the inner wall surface of the slider fits the outer surface of the handle; the joint between the handle and the rear tube body is provided with a traction rope. The accommodation cavity has an opening on at least one side of the accommodation cavity; one end of the traction rope enters from the accommodation cavity and extends to the opening, passing through the opening to connect with the inner wall of the slider; the handle is away from the radial direction of one end of the rear tube body The length is greater than the inner radial length of the slider.

Further, the outer surface of one end of the handle facing the rear tube body is covered with a positioning ring, and the positioning ring is detachably connected to the handle. The positioning ring cooperates with the rear end of the handle to prevent the slider from leaving the handle.

Further, the outer radial length of the positioning ring is smaller than the outer radial length of the slider. The slider protrudes from the positioning ring, which facilitates the operator to move the slider without being blocked by the positioning ring.

Further, a spring is provided between the positioning ring and the slider, and the spring is sleeved on the outer surface of the handle. Under normal conditions, the slider is restrained by the extension tension of the spring and can be at the rear end of the handle, thereby keeping the clamp head assembly in a closed state.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention provides a sheath and an auxiliary tissue forceps to provide an auxiliary manipulator for the operator to achieve "two-hand operation". The cooperation of the auxiliary tissue forceps and the peeling tissue forceps can increase the peeling speed of the lesion, and it is more conducive to peeling off the lesions while clamping them. The lesion is completely peeled off, reducing the difficulty of peeling off and reducing the possibility of damaging the lesion or destroying the patient's digestive tract mucosa; the sheath is fixedly connected to the endoscope body to provide an operating channel for the auxiliary tissue forceps, allowing the auxiliary tissue forceps to follow the endoscope Enter the digestive tract together, and then cooperate with the tissue stripping forceps;

2. The present invention provides a sheath tube composed of a front section, a middle section and a rear section. The front section and the rear section have a large elastic modulus and are not easily deformed, which is beneficial to assisting the insertion and removal of tissue forceps.

3. The positioning ring provided in the present invention can limit the movement range of the slider and prevent the slider from breaking away from the handle. The positioning ring and the spring can make the slider at the rear end of the handle under normal conditions, maintaining the closed state of the clamp head assembly, so that The operator no longer has to press the slider to keep the jaw assembly closed.

Description of drawings

Figure 1 is a schematic structural diagram of an ESD surgical auxiliary manipulator of the present invention;

Figure 2 is a schematic structural diagram of the sheath based on Figure 1;

Figure 3 is a schematic structural diagram of the auxiliary tissue forceps based on Figure 1;

Figure 4 is a schematic structural diagram of the outer tube based on Figure 3;

Figure 5 is a schematic structural diagram of the handle assembly based on Figure 3;

Figure 6 is a schematic diagram of the connection between the sheath tube, the tip cap, and the endoscope body based on Figure 1;

Figure 7 is a schematic structural diagram of the operating end of the snake-bone tube side wall steel cable based on Figure 3;

Figure 8 is a schematic structural diagram of the radial angle of the sleeve based on Figure 7;

FIG. 9 is a schematic diagram of the internal structure of the movable block based on the cross-section along the length direction of the movable block in FIG. 8 .

Description of main component symbols

1. Endoscope body; 2. Tip cap; 3. Sheath; 31. Front section; 32. Middle section; 33. Rear section; 4. Auxiliary tissue forceps; 41. Clamp head assembly; 42. Connection assembly; 421. Outer section Tube; 4211, front tube body; 4212, snake bone tube; 4213, rear tube body; 43, handle assembly; 431, slider; 432, handle; 433, positioning ring; 434, spring; 5, sleeve; 6 , movable block; 61. Push rod; 62. Micro spring; 63. Fixed block; 7. Stopper.

The above description of the main component symbols in conjunction with the accompanying drawings and specific implementation modes further explains the present invention in detail.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

The ESD surgical auxiliary manipulator of the present invention solves the problems of long surgical cycle and difficulty in operation in the prior art, realizes "two-hand operation" in the digestive tract, reduces the possibility of causing damage to lesions or destroying the patient's digestive tract mucosa, and improves The speed of peeling off lesions. The present invention improves the peeling speed of the lesion through the cooperation of the auxiliary tissue forceps 4 and the peeling tissue forceps. Clamping and peeling at the same time is more conducive to completely peeling off the lesion and reducing the difficulty of peeling. At the same time, it is connected to the sheath 3 on the outer wall of the endoscope body 1 An operating channel is provided for the auxiliary tissue forceps 4 so that the auxiliary tissue forceps 4 can enter the digestive tract and cooperate with the peeling tissue forceps.

As shown in FIG. 1 , the ESD surgical auxiliary manipulator of this embodiment includes an endoscope body 1 , a tip cap 2 , a sheath 3 and an auxiliary tissue forceps 4 .

One end of the tip cap 2 is fixedly sleeved on the front end of the endoscope body 1. The shape of the tip cap 2 is similar to a cylinder and has a certain length. There is a fixed distance between the endoscope body 1 and the other end of the tip cap 2 to block the inside of the endoscope. The front end of the endoscope body 1 is directly attached to the lesion, thereby maintaining the endoscope body 1 for photographing the lesion and preventing the front end of the endoscope from directly contacting the lesion, thereby preventing effective photography.

As shown in FIG. 2 , the sheath 3 includes a front section 31 , a middle section 32 and a rear section 33 that are connected in sequence. The front section 31 is fixed on the outer surface of the tip cap 2. One end of the front section 31 does not protrude from the tip cap 2. The front section and the tip cap 2 are fixed as one body, which facilitates following the tip cap 2 into the digestive tract. The middle section 32 and the rear section 33 are fixed on the outer surface of the endoscope body 1 . Tapes can be used to tie the middle section 32 and the rear section 33 at intervals so as not to hinder the smooth insertion operation of the endoscope body 1 . The length of the middle section 32 of the sheath 3 is much longer than the front section 31 and the rear section 33. The middle section 32 can be made of flexible material. The middle section 32 is radially flattened and attached to the outer surface of the endoscope body 1, and is arranged parallel to the endoscope body 1. , it is convenient to attach the endoscope body 1 and follow the operation and movement of the endoscope body 1. The front section 31 and the rear section 33 can be made of the same rigid material, so that the built-in auxiliary tissue forceps 4 can have a moment support environment. The internal cavities of the front section 31 , the middle section 32 and the rear section 33 together form an operating channel, which provides necessary conditions for the operation of the auxiliary tissue forceps 4 . The internal radial length of the front section 31 , the middle section 32 and the rear section 33 is at least 1.2 mm, thereby complying with conventional micro-tissue forceps implantation standards.

As shown in FIG. 3 , the auxiliary tissue forceps 4 includes a forceps head assembly 41 , a connection assembly 42 and a handle assembly 43 that are connected in sequence. The clamp head assembly 41 enters the operating channel from one end of the rear section 33 and extends to the front section 31 . The clamp head assembly 41 mainly includes a left clamp head, a right clamp head, a left connecting rod and a right connecting rod. The left connecting rod and the right connecting rod are respectively composed of multiple rod bodies. One end of the left connecting rod and the right connecting rod corresponds to the left clamp head and the right clamp head respectively and is movably connected with them. The other ends of the left connecting rod and the right connecting rod are connected by the connecting assembly 42 of containment. The connection method of the internal structure of the clamp head assembly 41 adopts conventional technical means and will not be described in detail here. The moving connection assembly 42 can adjust the opening and closing of the clamp head assembly 41 . The opposite sides of the left and right forceps are in a coarse-toothed shape. The coarse-toothed setting improves the gripping force of the left and right forceps to hold the lesion when they are closed. The lengths of the left and right forceps can be lengthened. Larger lesions can be clamped.

The connecting component 42 is bent to change the relative angle between the jaw component 41 and the handle component 43 . The connection assembly 42 includes a traction rope and an outer tube 421; one end of the traction rope is connected to the left connecting rod and the right connecting rod in the clamp head assembly 41. The inner diameter of the outer tube 421 is larger than the diameter of the traction rope, so the traction rope can be located inside the outer tube 421 . As shown in FIG. 4 , the outer tube 421 includes a front tube body 4211 , a snake tube 4212 and a rear tube body 4213 in sequence from the clamp head assembly 41 . The front tube body 4211 and the rear tube body 4213 have the same radial length and can also be made of the same material. The diameter of the outer tube 421 is much larger than the diameter of the sheath tube 3. Therefore, the diameter of the sheath tube 3 is relatively small and follows the endoscope body 1. When it reaches the digestive tract, it causes less discomfort to the human body. The front tube body 4211 is fixedly connected to the clamp head assembly 41, and the rear tube body 4213 is fixedly connected to the handle assembly 43. A plurality of steel cables are arranged at equal intervals on the side wall of the snake-bone tube 4212; the pipe wall surface of the rear pipe body 4213 is provided with wire holes matching the steel cables along the radial direction, and the steel cables can enter the rear pipe body 4213 through the wire holes. , and the number of wire holes can be twice the number of steel cables, respectively located at both ends of the rear pipe body 4213. At the end of the rear pipe body 4213, the steel cable can pass through the rear pipe body 4213 through the wire holes, and the ends of the steel cables can be The end is bound to the handle assembly 43, and the angle of the snake bone tube 4212 is adjusted by manually moving the steel cable. The steel cable can also be bound to the motor, and the steel cable can be tightened and relaxed through the rotation of the motor, thereby adjusting The bending angle of the serpentine tube 4212. Taking four steel cables as an example, they are equidistantly distributed on the surface of the snake-bone tube 4212. The steel cables cooperate with each other and can be adjusted in two dimensions. Adjustment of the bending direction of the snake-bone tube 4212 can change the angle of the clamp head assembly 41. , thereby facilitating the forceps assembly 41 to clamp the lesion tissue.

For the manual operation mode of the steel rope, a specific implementation mode is provided: As shown in Figure 7, taking four steel ropes as an example, a sleeve 5 can be placed on the handle assembly, and the bottom end of the sleeve 5 is along the sleeve The barrel 5 has four openings in the axial direction. The inner wall of the sleeve 5 is provided with a stopper 7 at the opening. The top of the stopper 7 is at most flush with the top of the sleeve 5 and the bottom of the stopper 7 is at most flush with the top of the sleeve. 5 is flush with the bottom end, and the movable block 6 is slidably arranged in the opening, but does not break away from the opening. The bottom end of the movable block 6 is located below the sleeve 5, and one end of the steel cable is fixed on the top of the movable block 6, so the movable block 6 is in The movement within the opening can drive the steel cable, thereby achieving the purpose of adjusting the angle of the snake bone tube.

As shown in Figure 8, the movable block 6 is slidingly connected to the sleeve 5 or the stopper 7. A chute can be provided on the side wall of the opening, and the sliding block can be provided correspondingly to the movable block 6, so that the movable block 6 can slide in the opening, or a chute can be provided on the opposite side of the stopper 7 and the movable block 6, and the sliding block 6 can be provided correspondingly. A sliding block is provided to allow the movable block 6 to slide in the opening. Both ends of the chute are closed, so that the movable block 6 can slide in the opening but not disengage.

As shown in Figure 9, in order to fix the relative position between the movable block 6 and the sleeve 5, a cavity can be opened in the movable block 6. The cavity is divided into a first cavity and a second cavity. The first cavity The push rod 61 is connected to the second cavity, one end of the push rod 61 is located in the first cavity, and one end of the fixed block 63 is located in the second cavity. The push rod 61 is L-shaped, and the end located in the cavity is fixedly connected to the fixed block 63. The push rod 61 has two and are arranged symmetrically. A micro spring 62 is connected between the opposite sides. Under the push of the micro spring 62, the end of the fixed block 63 located outside the cavity is in contact with the stopper 7. When the stopper 7 and the fixed The opposite side of the block 63 is provided with matching tooth patterns, and under normal conditions, the stopper 7 and the fixed block 63 fit together due to the action of the micro spring 62, and the relative position between the movable block 6 and the sleeve 5 is fixed. If you need to move the movable block 6, you can press the end of the push rod 61 located outside the cavity and squeeze the micro spring 62, so that the fixed block 63 and the stopper 7 are separated and have a distance. At this time, the movable block 6 can be moved to change the snake. The bending angle of the bone canal. In order to achieve a distance between the fixed block 63 and the stopper 7, the width of one end of the movable block 6 located in the sleeve 5 is smaller than the other end. In this way, even if the stopper 7 is arranged to fit the opening, the movable block 6 is located within the sleeve 5. One end can also maintain a distance from the stopper 7 .

As shown in FIG. 5 , the handle assembly 43 includes a slider 431 and a handle 432 . The slider 431 is hollow and can be placed on the outer surface of the handle 432, and the inner wall surface of the slider 431 is in contact with the outer surface of the handle 432. The handle 432 has an accommodation cavity for accommodating the traction rope along the connection with the rear tube body 4213. The rear tube body 4213 is fixedly connected to the handle 432, so the accommodation cavity is connected to the outer tube 421, so the traction rope can enter the accommodation cavity. . The side wall of the accommodation cavity is provided with an opening, and the opening has a certain length, which can match the linear movement of the slider 431 on the outer surface of the handle 432, because after one end of the traction rope enters the accommodation cavity, it passes through the opening and the slider 431 The connection enables the movement of the slider 431 to drive the movement of the traction rope, which in turn drives the opening and closing of the clamp head assembly 41. Therefore, the length of the opening needs to be able to cooperate with the movement of the traction rope driven by the slider 431. The radial length of the end of the handle 432 away from the rear tube body 4213 is greater than the internal radial length of the slider 431, thereby restricting the slider 431 from being separated from the handle 432 from the rear end of the handle 432.

In order to prevent the slider 431 from detaching from the front end of the handle 432, a positioning ring 433 can also be set on the front end of the handle 432. The positioning ring 433 can be detachably connected to the handle 432 through snap-fitting, or can be detachably connected to the handle 432 through the positioning ring 433. The surface of the ring 433 is provided with screw holes along its radial direction, and the screw holes are connected to the positioning bolts. The relative positions of the positioning ring 433 and the handle 432 are fixed by tightening the positioning bolts. The outer radial length of the positioning ring 433 is smaller than the outer radial length of the slider 431 . The slider 431 protrudes from the positioning ring 433, which facilitates the operator to move the slider 431 without being blocked by the positioning ring 433.

In order to move the left and right pliers on the pliers assembly 41 toward each other, the slider 431 needs to be moved toward the rear end of the handle 432 so that the pliers assembly 41 is in a closed state. However, during the peeling process, The jaw assembly 41 may be required to remain closed, requiring the operator to press the slider 431 at all times. When the diseased tissue needs to be clamped for a long time, continuous pressing will increase the complexity of the operation. Therefore, a spring 434 is provided between the positioning ring 433 and the slider 431, and the spring 434 is sleeved on the outer surface of the handle 432. Under normal conditions, the slider 431 is restrained by the stretching tension of the spring 434 and can be at the rear end of the handle, thereby keeping the pliers assembly 41 in a closed state. When the pliers assembly 41 needs to be in an open and closed state, only the slider 431 needs to be moved toward the handle. Just push forward. The arrangement of the spring 434 eliminates the need for manual pressing when the clamp head assembly 41 needs to be closed for a long time, thereby enabling the operator to perform other operations simultaneously.

This embodiment reduces surgical risks by realizing "two-hand operation" and can remove a larger range of lesions at one time. It can also obtain relatively complete lesion specimens, which is conducive to accurate pathological analysis and lesion diagnosis, improves the quality of prognostic monitoring, and is especially suitable for the early treatment of digestive tract tumors.

For the tissue stripping forceps inside the endoscope, the same structure as the auxiliary tissue forceps 4 can be used. Before performing the peeling operation, pre-positioning and marking can be done by using the auxiliary tissue forceps 4 with a diameter of 1.0 mm. First, insert the auxiliary tissue forceps 4 from the rear end of the sheath 3; then slowly push it to the front end. After probing out from the front end, you can Observe its position under an endoscope; control the angle and opening and closing of the forceps assembly 41 to cooperate with the operation.

In the future, it can also develop in the direction of intelligence. For example, a controller can be used to control the rotation, opening and closing of tissue forceps. The manual operation part of the handle assembly 43 of the tissue forceps is replaced by a controller, and a control interface is provided at the end of the tissue forceps. The control interface of the tissue forceps is the output port of the controller and is also the driving source for all programmed actions of the tissue forceps. Before use It is necessary to ensure that the interface device connection is stable, safe and reliable. The tissue forceps are connected or disconnected from the dedicated slot of the controller interface in a convenient embedding method. When working, the controller issues a driver program, which is implemented through the servo system (action actuator) in the tissue clamp control interface. The operation and control of the auxiliary surgery adopts a natural voice dialogue mechanism. The clinician (nurse) directly issues the operation command through voice. After being collected by the microphone (no need to wear it with the patient) and analyzed by the command system, the controller automatically completes the operation. Among them, natural language instruction analysis can adopt the typical "proposal-feedback-confirmation" interaction mode in human-computer dialogue to improve on-site anti-interference capabilities and ensure the safety and controllability of surgical operation instructions.

Since the tissue forceps is a shaped product, it needs to be properly modified at its end before it can be used as a supporting product. In the future, the supporting device manufacturers will make changes based on the specifications and standards provided by the design. The intelligent control of tissue forceps can provide convenience to the operator during surgery. For example, the auxiliary tissue forceps 4 and the peeling tissue forceps are both intelligently controlled. The operator can directly observe the endoscope's shooting screen to perform surgical operations, freeing the operator's time. hands.

The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, all possible combinations should be used. It is considered to be within the scope of this manual.

The above-mentioned embodiments only express several implementation modes of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the scope of protection of the patent of the present invention should be determined by the appended claims.

Claims

An auxiliary manipulator for ESD surgery, which is characterized in that it includes:

Endoscope body (1);

The tip cap (2) has one end fixedly sleeved on the front end of the endoscope body (1);

The sheath (3) includes a front section (31), a middle section (32) and a rear section (33) that are connected in sequence; the front section (31) is fixed on the outer surface of the tip cap (2), the middle section (32) and the rear section (33) is fixed on the outer surface of the endoscope body (1); the length of the middle section (32) is longer than the front section (31) and the rear section (33), and the middle section (32) is radially flattened and attached to the endoscope body (1). The outer surface of 1); the internal cavities of the front section (31), middle section (32) and rear section (33) together form the operating channel;

Auxiliary tissue forceps (4), which includes a forceps head assembly (41), a connection component (42) and a handle assembly (43) connected in sequence; the forceps head assembly (41) enters the operation from one end of the rear section (33) channel, and extends to one end of the front section (31); the connecting component (42) is bent to change the relative angle between the clamp head component (41) and the handle component (43).
The ESD surgical auxiliary manipulator according to claim 1, characterized in that the connection component (42) includes a traction rope and an outer tube (421); one end of the traction rope is connected to the clamp head assembly (41), and the other end Connected to the handle assembly (43); the traction rope is located inside the outer tube (421); the outer tube (421) includes a front tube body (4211) and a snake bone tube (4212) in sequence from the clamp head assembly (41) and the rear tube body (4213); the front tube body (4211) is fixedly connected to the clamp head assembly (41); a plurality of steel cables are arranged at equal intervals on the side wall of the snake tube (4212); the rear tube body (4213) ), the pipe wall surface is provided with wire holes matching the steel cable along the radial direction.
The ESD surgery auxiliary manipulator according to claim 1, characterized in that the clamp head assembly (41) includes a left clamp head and a right clamp head; the opposite sides of the left clamp head and the right clamp head are in the shape of coarse teeth.
The ESD surgical auxiliary manipulator according to claim 1, characterized in that the internal radial lengths of the front section (31), the middle section (32) and the rear section (33) are the same; the front section (31), the middle section (32) and The inner radial length of the rear section (33) is at least 1.2mm.
The ESD surgery auxiliary manipulator according to claim 1, characterized in that the elastic modulus of the front section (31) and the rear section (33) is greater than 196000N/mm².
The ESD surgery auxiliary manipulator according to claim 2, characterized in that the radial lengths of the front tube body (4211) and the rear tube body (4213) are the same; the front tube body (4211) and the rear tube body (4213) The radial length is greater than the radial length of the sheath (3).
The ESD surgery auxiliary manipulator according to claim 1, characterized in that the handle assembly (43) includes a slider (431) and a handle (432); the slider (431) is sleeved on the handle (432) The outer surface of the slider (431) fits the outer surface of the handle (432); the handle (432) has a receiving cavity for accommodating the traction rope along the connection point with the rear tube body (4213); The accommodation cavity has an opening on at least one side; one end of the traction rope enters from the accommodation cavity, extends to the opening, and passes through the opening to connect with the inner wall of the slider (431); the handle (432) The radial length of one end away from the rear tube body (4213) is greater than the internal radial length of the slider (431).
The ESD surgery auxiliary manipulator according to claim 7, characterized in that a positioning ring (433) is placed on the outer surface of one end of the handle (432) facing the rear tube body (4213), and the positioning ring (433) and the handle (432) detachable connection.
The ESD surgical auxiliary manipulator according to claim 8, characterized in that the outer radial length of the positioning ring (433) is smaller than the outer radial length of the slider (431).
The ESD surgical auxiliary manipulator according to claim 8, characterized in that a spring (434) is provided between the positioning ring (433) and the slider (431), and the spring (434) is sleeved on the handle (432). The outer surface.